RGB-D Camera Based Tracking System and Method Thereof
AssigneeRobert Bosch GmbH
InventorsSoohwan KIM, Benzun Pious Wisely BABU, Zhixin YAN, Liu REN
Life of this patent
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Abstract
A visual SLAM system comprises a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe, a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes, a frame generator configured to create keyframe graph, a loop constraint evaluator adds a constraint to the receiving keyframe graph, and a graph optimizer configured to produce a map with trajectory.
Claims10
A method for computing visual Simultaneous localization and Mapping (SLAM) comprising:
- generating, by a visual odometry module, a local odometry estimate;
- generating, by a keyframe generator, keyframes;
- creating keyframe graph;
- adding constraint to the keyframe graph using a loop constraint evaluator;
- and
- optimizing the keyframe graph with trajectory.
A method of applying a probabilistic sensor model for a dense visual odometry comprising:
- generating, by a keyframe generator, keyframes;
- creating keyframe graph;
- adding constraint to the keyframe graph using a loop constraint evaluator;
- and
- optimizing the keyframe graph with trajectory
A method of t-distribution for photometric errors and a probabilistic sensor model for geometric errors comprising:
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A visual SLAM system comprising:
- a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe;
- a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes;
- a frame generator configured to create keyframe graph;
- a loop constraint evaluator adds a constraint to the receiving keyframe graph;
- and
- a graph optimizer configured to produce a map with trajectory.
Dependencies are inferred from the claim text.